2020 | vol. 68 | nr. 4 | art. 9

Trajectory Planning of Multi-dimensional Actuator based on Improved S-shaped Velocity Curve

Xiwen Guo, Siao Wu, Qunjing Wang, Yan Wen, Tao Wu
Abstract
In order to improve the smoothness of the velocity of the multi-dimensional actuator rotor output shaft and reduce the impact of sudden change of torque on the system, a trajectory planning method based on the improved S-shaped velocity curve is proposed in this paper. Firstly, according to the position information of the key points in the track of the multi-dimensional actuator, the Euler rotation angle of the point-to-point is obtained by coordinate transformation. Then, based on the parameters of S-shaped velocity curve, the corresponding acceleration equation is solved, and then the control torque is output by using point-to-point torque generation tool. Finally, Gaussian function algorithm is used to fit the output angular velocity information, which makes the velocity, acceleration and control torque of the multi-dimensional actuator trajectory change continuously. Simulation results verify the correctness of the proposed scheme.
Keywords: multi-dimensional actuator, trajectory planning, s-shaped velocity curve, gaussian fitting processing, dynamic simulation
To cite this article: Xiwen Guo,Siao Wu,Qunjing Wang,Yan Wen,Tao Wu, “Trajectory Planning of Multi-dimensional Actuator Based on Improved S-shaped Velocity Curve”, in Electrotehnica, Electronica, Automatica (EEA), 2020, vol. 68, no. 4 pp. 66-73, ISSN 1582-5175.
https://doi.org/10.46904/eea.20.68.4.1108009
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